Lennon, 42, was accused of the offence while driving a black Audi Q7 car on Glasgow’s High Street on July 26 last year.
Stipendiary Magistrate Josephine MacLean ruled that there was no case to answer following a trial at the city’s Justice of the Peace court.
The judge accepted an argument from Lennon’s solicitor that the Crown failed to provide the evidence necessary to convict him.
She told Lennon: “I uphold the submissions that there is no case to answer.
“You are not guilty, you are free to go.”
The football boss thanked the judge before leaving court.
His solicitor, Liam O’Donnell, said after the trial: “Neil is pleased that the matter is concluded and accepts it was a misunderstanding.”